| Autor: |
Zakerimanesh, Amir, Hashemzadeh, Farzad, Tavakoli, Mahdi |
| Předmět: |
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| Zdroj: |
International Journal of Control; Jun2020, Vol. 93 Issue 6, p1328-1344, 17p |
| Abstrakt: |
In a nonlinear teleoperation system controlled for task-space position tracking, while the time-varying delay in the communication channel has been addressed, the actuator saturation has not been taken into account yet. Considering that in practice, the actuator saturation is a serious constraint, disregarding it in the controller design stage can cause problems. In this paper, we have proposed a control framework to ensure end-effectors position tracking while satisfying sub-task control in the presence of the nonlinear dynamics for the telemanipulators, bounded time-varying delays in the communication channels and saturation in the actuators. We have shown that in free motion and when the operator applies a bounded force to the local robot, the proposed controller not only guarantees the position convergence of the end-effectors but also guarantees the accomplishment of the sub-task control. The efficiency of the proposed control algorithm is validated showing a number of numerical simulations. [ABSTRACT FROM AUTHOR] |
| Databáze: |
Complementary Index |
| Externí odkaz: |
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